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I hope you mean "passing" the Statue of Liberty - not "to" it. Liberty Island is run by the National park Service and the only boats that dock there are official ones - the ferry from South Ferry or from NJ. It isn;t open to private boats.

If you want to SEE the statue from the water, come into Manhattan, via the subway and take the Staten Island Ferry over and back. If you want to go TO the SOL, you have to get tickets (in advance online is best), and then go to Battery Park and get on the ferry over to the island. You can also tour Ellis Island as well, another great stop.

If you click on the link I provided and then click the Brooklyn tab, you will see a list of charter boats that operate from Sheepshead Bay, some of which seem to be available for charters that do not involve fishing.

If they are disabled, your best option would be a cab or service car into Manhattan to the Staten Island Ferry. The ship is large and would accomodate wheelchairs for example, and on the boat there is little rocking, because the boat is large.

Fishing boats charters are not going to be anywhere near as large, and in the open ocean will be rocky. That whole idea is probably not a great option.